Research
Frontier robotics research: arXiv cs.RO papers, embodied AI, VLA models, manipulation, navigation and learning systems.
Frontier robotics research: arXiv cs.RO papers, embodied AI, VLA models, manipulation, navigation and learning systems.
Latest in Research
2826 storiesFrom Technical Metrics to User Perception: A User Study of a Multimodal Human-Robot Interaction System for Object Detection and Grasping
arXiv:2607.00530v1 Announce Type: new Abstract: Improvements in the technical performance of human--robot interaction (HRI) systems do not automatically transla…
Iterated Invariant EKF for 3D Landmark-Aided Inertial Navigation
arXiv:2607.00145v1 Announce Type: new Abstract: Inertial navigation systems aided by three-dimensional landmark measurements constitute a fundamental problem in…
PhyPush: One Push is All You Need for Sensorless Physical Property Estimation with Physics-Guided Transformers
arXiv:2605.26284v2 Announce Type: replace Abstract: Accurately estimating object mass and friction is fundamental to reliable robotic manipulation. While intera…
Optimal any-angle path planning in static and dynamic environments
arXiv:2607.00065v1 Announce Type: new Abstract: Any-angle path planning extends traditional graph-based path planning by allowing movement between any pair of v…
HydraCollab: Adaptive Collaborative-Perception for Distributed Autonomous Systems
arXiv:2607.00191v1 Announce Type: new Abstract: Collaborative-perception enables multi-robot systems to enhance situational awareness by sharing perceptual info…
Wake up for Touch! Mask-isolated Tactile Alignment Learning in MLLMs
arXiv:2607.00302v1 Announce Type: cross Abstract: Touch supplies the physical grounding needed to perceive intrinsic material properties, such as friction and c…
From Prior to Pro: Efficient Skill Mastery via Distribution Contractive RL Finetuning
arXiv:2603.10263v2 Announce Type: replace Abstract: We introduce Distribution Contractive Reinforcement Learning (DICE-RL), a framework that uses reinforcement …
Apptronik unveils Apollo 2 and a flagship data collection and training facility
Built as a data collection and training platform, Apollo 2 enables continuous learning through deployment, Apptronik said. The post Apptronik unveils Apollo 2 a…
OopsieVerse: A Safety Benchmark with Damage-Aware Simulation for Robot Manipulation
arXiv:2606.31993v1 Announce Type: new Abstract: While robotic manipulation capabilities have advanced rapidly, physical safety remains a major barrier to deploy…
Multi-Robot Coordination for Planning under Context Uncertainty
arXiv:2603.13748v3 Announce Type: replace Abstract: Real-world robots often operate in settings where objective priorities depend on the underlying context of o…
Hierarchical 3D Scene Graph Construction and Belief-based Planning for Semantic Navigation
arXiv:2606.31071v1 Announce Type: cross Abstract: Semantic navigation is a fundamental task for embodied agents operating in unseen environments, requiring both…
LDHP: Library-Driven Hierarchical Planning for Non-prehensile Dexterous Manipulation
arXiv:2603.13844v2 Announce Type: replace Abstract: Non-prehensile manipulation is essential for handling thin, large, or otherwise ungraspable objects in unstr…
Safe Online Learning via Smooth Safety-Structured Policy Composition
arXiv:2606.31320v1 Announce Type: cross Abstract: Safe online reinforcement learning requires policies to respect safety constraints while maintaining smooth op…
HABIT: Human-Aware Behavior and Interaction Training Dataset for Robot Manipulation
arXiv:2606.31682v1 Announce Type: new Abstract: Large-scale demonstration datasets have been central to recent progress in general-purpose robot policies. Howev…
Stabilization Learning: A Paradigm Transition Bridging Control Theory and Machine Learning
arXiv:2606.31562v1 Announce Type: new Abstract: Stabilization learning is an interdisciplinary paradigm that bridges control theory and machine learning. Its co…
Wind and State Estimation on SE(3): Comparative Evaluation of EKF and UKF with Continuous and Discrete Quadrotor Models
arXiv:2606.30804v1 Announce Type: new Abstract: Use of quadrotor UAVs for wind velocity estimation is gaining popularity in recent studies, leveraging their man…
StemVLA:An Open-Source Vision-Language-Action Model with Future 3D Spatial Geometry Knowledge and 4D Historical Representation
arXiv:2602.23721v2 Announce Type: replace Abstract: Vision-language-action (VLA) models integrate visual observations and language instructions to predict robot…
DSIP: A Dynamic Coordination Planner for Signal-Free Intersections using Diffusion-Model-Based Multi-Agent Motion Planning
arXiv:2606.30694v1 Announce Type: new Abstract: Traffic signal control at urban intersections inherently introduces stop-and-go behavior, resulting in increased…
Efficient Sim-to-Real Transfer of World-Action Models from Synthetic Priors
arXiv:2606.31101v1 Announce Type: new Abstract: Bridging the sim-to-real gap is a core challenge in deploying learned manipulation policies. Sim-to-real learnin…
Stage-Transition Dense Reward Modeling for Reinforcement Learning
arXiv:2606.31377v1 Announce Type: new Abstract: Reinforcement learning for long-horizon robotic manipulation is often limited by sparse and delayed rewards, whi…
RhinoVLA Technical Report
arXiv:2606.07383v2 Announce Type: replace Abstract: Vision-Language-Action (VLA) models have shown strong potential for robotic manipulation, but real-time depl…
A Large-Language-Model Supported Personalized Driving Framework for Lane Change in Highway Scenarios
arXiv:2606.31483v1 Announce Type: new Abstract: Personalized driving can improve the user acceptance of automated driving systems. However, existing methods sti…
MVP-Nav: Multi-layer Value Map Planner Navigator
arXiv:2606.31919v1 Announce Type: new Abstract: Zero-shot Object Goal Navigation (ZSON) with RGB-only perception poses a fundamental challenge for embodied agen…
LLM-Powered Interactive Robotic Action Synthesis from Multimodal Speech, Gestures, and Music
arXiv:2606.31158v1 Announce Type: new Abstract: The quest for intuitive and natural human-robot interaction (HRI) remains a significant challenge in robotics. T…
Off the Rails: Hijacking the Scoring Head in Generative End-to-End Driving Planners with Safety-Violating Adversarial Perturbations
arXiv:2606.30807v1 Announce Type: new Abstract: Generative models have recently seen rapid adoption in End-to-End (E2E) autonomous driving (AD), with diffusion-…
Early-Terminable Energy-Safe Iterative Coupling for Parallel Simulation of Partitioned Port-Hamiltonian Systems
arXiv:2603.16424v2 Announce Type: replace Abstract: Parallel simulation of robotic systems requires partitioning the dynamics into coupled subsystems. Finite-it…
Position: Vision-Language-Action Models Cannot Be Verified to Perform Physical Reasoning
arXiv:2606.30686v1 Announce Type: new Abstract: Vision-Language-Action (VLA) systems, built on pretrained vision-language models (VLMs), have shown rapidly impr…
Designing Privacy-Preserving Visual Perception for Robot Navigation Based on User Privacy Preferences
arXiv:2604.06382v2 Announce Type: replace Abstract: Visual navigation is a fundamental capability of mobile service robots, yet the onboard cameras required for…
FalconApp: Rapid iPhone Deployment of End-to-End Perception via Automatically Labeled Synthetic Data
arXiv:2604.25949v2 Announce Type: replace Abstract: Reliable perception for robotics depends on large-scale labeled data, yet real-world datasets rely on heavy …
Learning Locomotion on Discrete Terrain via Minimal Proximity Sensing
arXiv:2606.31912v1 Announce Type: new Abstract: Learning-based control has revolutionized dynamic locomotion, yet navigating unstructured terrain remains limite…